【摘要】：針對(duì)軋機(jī)牌坊線下維修過(guò)程中遇到的起重吊運(yùn)不便與停機(jī)時(shí)間過(guò)長(zhǎng)等難題,以及普通機(jī)械加工設(shè)備不能完成軋機(jī)牌坊在線維修的現(xiàn)狀,文章研究了一種軋機(jī)牌坊在線修復(fù)設(shè)備,即軋機(jī)牌坊修復(fù)并聯(lián)銑削機(jī)器人,該機(jī)器人解決了高空作業(yè)、角落加工、工況復(fù)雜等實(shí)際難題。通過(guò)對(duì)軋機(jī)牌坊不同修復(fù)方法的總結(jié)與分析,選定具體修復(fù)方案�；谲垯C(jī)牌坊修復(fù)任務(wù)的工作空間與環(huán)境等要求,提出并選用了兩主動(dòng)臂驅(qū)動(dòng)并聯(lián)高速銑削機(jī)器人整體結(jié)構(gòu)方案,對(duì)各部分結(jié)構(gòu)的設(shè)計(jì)思路與具體尺寸進(jìn)行了規(guī)劃與設(shè)計(jì),并對(duì)整體結(jié)構(gòu)的自由度進(jìn)行了分析。構(gòu)建了銑削機(jī)器人運(yùn)動(dòng)數(shù)學(xué)模型,通過(guò)理論分析推導(dǎo)出結(jié)構(gòu)運(yùn)動(dòng)學(xué)正逆解模型,同時(shí)進(jìn)行了奇異位型分析,為銑削機(jī)器人控制系統(tǒng)設(shè)計(jì)奠定了基礎(chǔ)�；诩庸ぷ鳂I(yè)基本要求,選用內(nèi)裝電動(dòng)機(jī)主軸傳動(dòng)系統(tǒng),即銑削電主軸。對(duì)銑削相關(guān)參數(shù)進(jìn)行設(shè)計(jì)與計(jì)算,依據(jù)分析、計(jì)算結(jié)果對(duì)主傳動(dòng)系統(tǒng)、軸承、減速器、伺服電機(jī)等元件進(jìn)行了選型。從軋機(jī)牌坊修復(fù)加工設(shè)備的靜態(tài)特性出發(fā),對(duì)銑削機(jī)器人進(jìn)行了基于Solid Works軟件的三維建模,然后基于ANSYS Workbench軟件分別對(duì)銑削機(jī)器人工作狀態(tài)與不工作狀態(tài)進(jìn)行了靜力學(xué)分析,得到銑削機(jī)器人的應(yīng)變、應(yīng)力與整體變形云圖,考察結(jié)構(gòu)設(shè)計(jì)是否符合強(qiáng)度要求。對(duì)機(jī)器人結(jié)構(gòu)進(jìn)行了模態(tài)分析,分析時(shí)考慮前八階固有頻率與振型,研究外部激勵(lì)頻率與結(jié)構(gòu)固有頻率是否重合,考察結(jié)構(gòu)設(shè)計(jì)的合理性。應(yīng)用ADAMS軟件對(duì)模型關(guān)鍵轉(zhuǎn)向過(guò)程進(jìn)行了運(yùn)動(dòng)仿真,得到了相關(guān)仿真曲線和參數(shù),檢驗(yàn)結(jié)構(gòu)的干涉狀況,考察該方案的可行性與準(zhǔn)確性,為機(jī)器人驅(qū)動(dòng)手臂伺服系統(tǒng)合理選取及機(jī)構(gòu)優(yōu)化提供幫助,最后對(duì)此次軋機(jī)牌坊修復(fù)工作的修復(fù)工藝進(jìn)行了研究,保證修復(fù)工作的順利完成。
[Abstract]:In view of the difficulties encountered in the process of underground maintenance of mill arch, such as inconvenient lifting and long downtime, and the current situation that the common machining equipment can not complete the online maintenance of mill arch, this paper studies a kind of on-line repair equipment for mill arch. This robot solves the practical problems such as high altitude operation, corner machining, complex working conditions and so on. Through the summary and analysis of different repair methods of mill arch, the concrete repair scheme is selected. Based on the demands of the workspace and environment of the repair task of the mill arch, the overall structure scheme of the parallel high-speed milling robot driven by two active arms is proposed and selected, and the design ideas and the specific dimensions of each part of the structure are planned and designed. The degree of freedom of the whole structure is analyzed. The kinematic mathematical model of milling robot is constructed, the forward and inverse kinematics model of structure is deduced through theoretical analysis, and the singular bit type analysis is carried out, which lays a foundation for the design of control system of milling robot. Based on the basic requirements of machining operation, internal motor spindle transmission system, I. E. milling motorized spindle, is selected. The milling parameters are designed and calculated. Based on the analysis, the main transmission system, bearing, reducer, servo motor and other components are selected. Based on the static characteristics of mill repair equipment, the 3D modeling of milling robot based on Solid Works software is carried out, and then the static analysis of the working state and non-working state of milling robot is carried out based on ANSYS Workbench software. The strain, stress and global deformation of the milling robot were obtained, and the structural design was investigated to meet the strength requirements. The modal analysis of robot structure is carried out. The first eight natural frequencies and modes are considered, and the coincidence of external excitation frequency and structural natural frequency is studied, and the rationality of structural design is investigated. The key steering process of the model is simulated by ADAMS software. The simulation curves and parameters are obtained, the interference of the structure is checked, and the feasibility and accuracy of the scheme are investigated. It can help the robot drive arm servo system to select reasonably and optimize the mechanism. Finally, the repair technology of the repair work of the mill arch is studied to ensure the smooth completion of the repair work.
【學(xué)位授予單位】：華北理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG333

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本文編號(hào)：2241689